Water transfer project intelligent inspection method based on Beidou ground-based augmentation system

Abstract

The invention is suitable for the field of water transfer engineering, and provides a Beidou ground-based augmentation system-based intelligent inspection method for water transfer engineering, which comprises the following steps of: acquiring inspection position data and inspection environment data obtained by inspecting a water transfer engineering area by an inspection terminal, the inspection position data is determined based on satellite differential data of each satellite base station in the Beidou ground-based augmentation system; according to the inspection position data and the inspection environment data, constructing inspection track information corresponding to the inspection terminal; and visually displaying the inspection track information. According to the method, the routing inspection position data and the routing inspection environment data of the routing inspection terminal for routing inspection of the water transfer project area are obtained, and the routing inspection position data are determined based on the satellite differential data of each satellite base station in the Beidou ground-based augmentation system, so that high-precision positioning in the routing inspection process can be ensured; therefore, the constructed routing inspection track information is visually displayed, and meanwhile, efficient and high-precision monitoring of the routing inspection of the water transfer project area can be realized.

Description

Technical Field

[0001] The present application belongs to the technical field of water diversion projects, and in particular, relates to an intelligent inspection method for water diversion projects based on a Beidou ground-based augmentation system. Background Art

[0002] With the increasing tension of global water resources and the challenge of climate change, water diversion projects, as an important means to solve the uneven distribution of regional water resources and ensure water resource security, are becoming increasingly important for efficient and safe operation. Among them, with the popularization of inspection terminals such as mobile phones, drones, and unmanned boats in field inspection applications, accurate positioning technology is crucial to improving the inspection efficiency of water diversion projects and ensuring operational safety.

[0003] In order to meet these challenges, the new generation of information technology, especially the Beidou satellite navigation system and the fifth generation of mobile communication technology, has provided new solutions for the intelligent management of water diversion projects. The Beidou Ground-Based Augmentation System (Continuous Operational Reference System, CORS) is an important infrastructure based on the Beidou satellite navigation system. It evenly deploys multiple permanent continuously operating reference stations in a certain area to form a reference station network, and uses these reference stations as the benchmark, using modern computers, data communications and Internet technologies to provide high-precision, continuous and real-time navigation and positioning services to various users, providing a new high-precision inspection method for water diversion projects.

[0004] However, the traditional inspection methods of water diversion projects still have many limitations. For example, the location signals of existing inspection terminals are weak and have poor positioning accuracy in the field, resulting in low inspection efficiency, insufficient risk management capabilities, and limited information level. It cannot meet the needs of accurate inspection and real-time monitoring, and seriously affects the operating efficiency of water diversion projects and the rational allocation of water resources. Summary of the invention

[0005] The embodiment of the present application provides an intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system, which can ensure high-precision positioning during the inspection process and realize efficient and high-precision monitoring of the water diversion project area inspection.

[0006] In a first aspect, an embodiment of the present application provides a method for intelligent inspection of water diversion projects based on a Beidou ground-based augmentation system, which is applied to an inspection server and includes:

[0007] Obtain inspection location data and inspection environment data obtained by the inspection terminal during inspection of the water diversion project area, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area;

[0008] According to the inspection location data and inspection environment data, the inspection trajectory information corresponding to the inspection terminal is constructed;

[0009] Visualize the inspection trajectory information.

[0010] In a second aspect, an embodiment of the present application provides a method for intelligent inspection of water diversion projects based on a Beidou ground-based augmentation system, which is applied to an inspection terminal and includes:

[0011] During the inspection process of the water diversion project area by the inspection terminal, the inspection location data and the inspection environment data are sent to the inspection server, so that the inspection server can perform a visual display based on the inspection location data and the inspection environment data. The inspection location data is determined based on the satellite differential data of each satellite base station in the Beidou Ground Based Augmentation System. The satellite base stations are arranged in a strip-like form on both sides of the water diversion project area.

[0012] In a third aspect, the embodiment of the present application provides an intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system, which is configured on an inspection server and includes:

[0013] An acquisition module is used to acquire inspection location data and inspection environment data obtained by the inspection terminal during inspection of the water diversion project area, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area;

[0014] A construction module, used to construct inspection trajectory information corresponding to the inspection terminal according to the inspection location data and the inspection environment data;

[0015] The display module is used to visualize the inspection trajectory information.

[0016] In a fourth aspect, an embodiment of the present application provides an intelligent inspection device for water diversion projects based on a Beidou ground-based augmentation system, which is configured at an inspection terminal and includes:

[0017] The first data sending module is used to send inspection location data and inspection environment data to the inspection server during the inspection of the water diversion project area by the inspection terminal, so that the inspection server can perform visual display based on the inspection location data and the inspection environment data, wherein the inspection location data is determined based on the satellite differential data of each satellite base station in the Beidou Ground Based Augmentation System, and the satellite base stations are arranged in a strip-like form on both sides of the water diversion project area.

[0018] In a fifth aspect, an embodiment of the present application provides an inspection server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0019] In a sixth aspect, an embodiment of the present application provides an inspection terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the second aspects is implemented.

[0020] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspect or the second aspect is implemented.

[0021] In an eighth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute any of the methods in the first or second aspects above.

[0022] The embodiment of the present application provides a method for intelligent inspection of water diversion projects based on the Beidou Ground-Based Augmentation System, including: obtaining inspection position data and inspection environment data obtained by the inspection terminal when inspecting the water diversion project area, wherein the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area; constructing inspection trajectory information corresponding to the inspection terminal based on the inspection position data and the inspection environment data; and visually displaying the inspection trajectory information. Utilizing the above technical solution, by obtaining the inspection position data and inspection environment data of the water diversion project area inspected by the inspection terminal, wherein the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, high-precision positioning can be guaranteed during the inspection process, thereby visually displaying the constructed inspection trajectory information while achieving efficient and high-precision monitoring of the water diversion project area inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a flow chart of an intelligent inspection method for water diversion projects based on a Beidou ground-based augmentation system provided in one embodiment of the present application;

[0025] Figure 2 It is a coverage map of a satellite reference station provided by an embodiment of the present application;

[0026] Figure 3A diagram showing the composition and connection relationship of a satellite reference station provided in one embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of a work order related to an inspection service provided in an embodiment of the present application;

[0028] Figure 5 It is a flow chart of another intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system provided in one embodiment of the present application;

[0029] Figure 6 This is an architecture diagram of a smart inspection system provided by an embodiment of the present application;

[0030] Figure 7 It is a schematic diagram of a data flow in a smart system provided by an embodiment of the present application;

[0031] Figure 8 This is a schematic diagram of a process for determining inspection location data provided by an embodiment of the present application;

[0032] Fig. 9 It is an overall schematic diagram of an intelligent inspection method for water diversion projects based on a Beidou ground-based augmentation system provided in one embodiment of the present application;

[0033] Fig.10 This is an overall business diagram of an inspection server provided in an embodiment of the present application;

[0034] Fig.11 It is a structural block diagram of an intelligent inspection device for water diversion projects based on a Beidou ground-based augmentation system provided by an embodiment of the present application;

[0035] Fig.12 It is a structural block diagram of an intelligent inspection device for water diversion projects based on a Beidou ground-based augmentation system provided by an embodiment of the present application;

[0036] Fig.13 It is a structural diagram of an inspection server provided in one embodiment of the present application;

[0037] Fig.14 It is a structural diagram of an inspection terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0038] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0039] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0040] It should also be understood that the term "and / or" in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0042] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0043] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0044] Figure 1 It is a flow chart of an intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system provided in one embodiment of the present application. As an example but not a limitation, the method can be applied to an inspection server.

[0045] S101. Obtain inspection location data and inspection environment data obtained by the inspection terminal during inspection of the water diversion project area, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area.

[0046] The inspection terminal can be considered as a mobile device for inspecting the water diversion project area, such as a mobile phone, a drone, an unmanned boat, or other mobile device.

[0047] The inspection position data may refer to the high-precision positioning data of the inspection terminal during the inspection process, which is used to characterize the specific inspection location; the inspection environment data may be the data related to the environment during the inspection process; the inspection position data may be the data obtained by the inspection terminal itself through position solution, such as it may be determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System. The satellite differential data may be understood as the correction data obtained after a long period of static processing of the original satellite observation data collected by the satellite reference station. These correction data may include satellite orbit errors, ionospheric delays, tropospheric delays, etc.

[0048] The Beidou ground-based augmentation system can be composed of multiple satellite base stations, and each satellite base station can be deployed in a strip-like form on both sides of the water diversion project area.

[0049] Specifically, according to the requirements of "BD440013-2017 Beidou Ground-Based Augmentation System Base Station Construction Technical Specifications", the base station network factor (i.e. the ratio of the shortest side to the longest side of the triangle formed by a base station and its two nearest base stations) shall not be less than 0.7, in order to meet the networking requirements required by the Beidou Ground-Based Augmentation System to provide regional real-time centimeter-level and post-processing millimeter-level precision services. However, infrastructure such as water diversion projects has its own particularity, and is mostly distributed in a belt shape, which puts higher requirements on the processing performance of the data center solution software.

[0050] Among them, the Beidou ground-based augmentation system in this embodiment is mainly based on the Beidou-3 satellite system, and is compatible with satellite constellations such as the Global Positioning System (GPS), the Global Orbiting Navigation Satellite System (GLONASS), the Galileo Positioning System (Galileo) and the Quasi-Zenith Satellite System (QZSS). Among them, GPS is composed of 24 in-orbit satellites, evenly distributed on 6 orbital planes, and the orbital altitude is about 20,200 kilometers; GLONASS is a satellite constellation composed of 24 in-orbit satellites, distributed on 3 orbits, and the orbital altitude is about 19,100 kilometers. ; Galileo consists of 30 medium-altitude orbit satellites evenly distributed in 3 orbits; QZSS is a satellite constellation composed of 3 satellites, which are located in geosynchronous orbit with an orbital altitude of about 36,000 kilometers; The Beidou CORS system has the ability to independently network Beidou satellites for high-precision positioning, and provides a variety of positioning modes such as free combination of five satellite systems, realizing the joint solution of GEO / IGSO (Beidou high orbit) satellites and MEO (GPS / GLONASS medium circular orbit) satellites, and the coordinates are also compatible with the national CGCS2000 coordinate system.

[0051] "Belt-shaped" can refer to a special geographical layout form. Satellite base stations can be arranged linearly according to specific directional requirements to form a continuous service range, which is suitable for water conservancy, water diversion and other projects, and presents a linear structure distribution along rivers and channels.

[0052] Figure 2 is a coverage map of a satellite reference station provided by an embodiment of the present application, such as Figure 2 As shown in the figure, satellite reference stations (such as reference station AA) can be deployed near each pumping station (such as pumping station and pumping station b), and can be deployed in a strip-like form on both sides of the water diversion project area. The area within the dotted line can indicate the service range of the strip-like Beidou CORS system reference station. For example, in this strip distribution, the service range of each satellite reference station forms an effective service radius with the station as the center. Multiple satellite reference stations are arranged along the river direction of the water diversion project area, and the service ranges are connected to each other to form a narrow and long coverage area, which shows a strip-like feature geographically.

[0053] For example, the curve vector describing the direction of the river can be extracted from the satellite map in advance, and the curvature, width and direction of the river vector in a specific area can be analyzed. The basic coverage area of ​​the satellite base station in the Beidou CORS system is determined according to the actual direction of the river, and combined with the distribution of pump stations near the engineering line, the expected service range on both sides of the river is accurately covered.

[0054] For example, along both sides of a river, satellite base stations can be distributed alternately to form a strip network layout, which helps to achieve continuous coverage along the river and optimize the quality of signal reception; ensure that satellite base stations with similar mileage on both sides of the river are connected in pairs to form a horizontal connection of the network; at the same time, satellite base stations with similar mileage on the same side of the river are connected in pairs to form a vertical connection of the network, thus building a complete CORS network.

[0055] Then, the satellite base station can be installed on the grid nodes in the designed strip distribution area according to standard procedures and specifications. The satellite base station has the ability to continuously track and observe and record satellite numbers for a long time, and transmit the observation data to the Beidou CORS server for analysis in a timely or real-time manner through a dedicated data transmission channel. The satellite base station is generally composed of an observation pier, a receiving antenna, a receiver, meteorological equipment, and supporting power supply, network, grounding and other equipment.

[0056] Figure 3 The composition and connection relationship diagram of the satellite reference station provided in an embodiment of the present application is as follows: Figure 3As shown in the figure, antenna, observation pier, outdoor lightning rod, and base station receiver are the basic components of the satellite base station. Other equipment required by the base station, such as line lightning protection, cabinets, UPS, routers, network equipment, etc., can make full use of the existing equipment in the computer room. The layout process can include the installation of feeder lightning arresters, base station receivers, network transmission lines, label production and pasting, self-test and record, power-on test, site cleaning and other steps.

[0057] Specifically, the deployment and installation of the satellite base station may include the following steps:

[0058] (1) Install a feeder lightning arrester. After the feeder enters the machine room, connect the feeder lightning arrester and connect the lightning arrester ground wire to the feeder window ground bar. The feeder lightning arrester can be connected to the power splitter to connect multiple GNSS devices. All external wiring terminals are waterproof and sealed.

[0059] (2) Install the base station receiver. If the receiver can be installed in a standard cabinet in the site computer room, the receiver is supported by a bracket installed inside the cabinet. The receiver reinforcement accessories and bracket are fixed to the cabinet with screws. The cables in the cabinet can be laid along the internal cable trough of the cabinet and tied firmly. Avoid crossing the cables. The power cord and signal cord are laid separately from both sides of the cabinet to avoid mutual interference. The grounding of the receiver is provided by the standard cabinet.

[0060] (3) Install network transmission cables, such as the transmission cable from the base station receiver RJ45 network port to the switch port; the layout of the transmission cable and the production of the terminal can meet the regulations and specifications of the cable layout standard (ISO / IEC11801).

[0061] (4) After the equipment is installed, the feeder, transmission line and receiver can be connected in the correct way.

[0062] (5) Label making and pasting, such as cutting the label paper for each joint in the room, tearing off the high-profile film on the back, and pasting it on the plastic label holder. When fixing the label, consider the direction and orientation to facilitate viewing of the label content.

[0063] (6) Perform self-inspection and take photos during installation. If the quality self-inspection can be completed in accordance with relevant quality standards, take photos for record.

[0064] (7) Power-on test: If the input power can be connected and the positive and negative voltages of the power line are within the correct range, connect the power supply to the device and check to confirm that the device is in normal condition. After the device is debugged and running normally, perform data service test.

[0065] (8) Clean up the site and leave the station: Arrange the tools and extra cables on site, clean the machine room and antenna construction area, and pack up the construction waste and take it out of the station. Fill in the machine room entry and exit records, close the machine room door lock, notify the network management center to confirm that there are no alarms, and then leave the station. Take photos of the completion.

[0066] Furthermore, satellite reference stations are the basis for achieving high-precision positioning. Satellite reference stations are installed on network nodes in specific river basin belt distribution areas, which can receive satellite observation data including pseudorange, carrier phase, satellite orbit parameters and atmospheric delay parameters. Based on long-term static observations, satellite reference stations can solve more accurate satellite orbit parameters and atmospheric delay models, including ionosphere and tropospheric delays. The optimized parameters are subtracted from the observation data to obtain correction values, namely satellite differential data, which can be directly used for inspection terminals for mobile operations near the reference values ​​of satellite reference stations. Inspection personnel can obtain corrected satellite orbit parameters and atmospheric delay parameters without long-term static observations, thereby quickly achieving more accurate dynamic positioning results, improving the positioning reliability of the Beidou satellite navigation system in the water diversion area, and providing high-precision positioning services for water diversion project inspections.

[0067] Specifically, the inspection server can obtain the inspection location data and inspection environment data obtained by the inspection terminal when inspecting the water diversion project area. The acquisition method is not limited. For example, the inspection terminal can actively upload the inspection location data and inspection environment data to the inspection server in real time or periodically during the inspection process, or the inspection server can periodically request the inspection terminal to report. For example, the inspection terminal can automatically collect the inspection location data and attach a timestamp every 3 minutes, and enter the on-site environmental information at the same time, and transmit it to the inspection server through the wireless network, so that the inspection server can realize dynamic real-time display of the inspection information.

[0068] S102: Construct inspection trajectory information corresponding to the inspection terminal according to the inspection location data and the inspection environment data.

[0069] The inspection trajectory information is used to characterize the trajectory of the inspection terminal during the inspection process.

[0070] After obtaining the inspection location data and inspection environment data of the inspection terminal, the inspection trajectory information corresponding to the inspection terminal can be constructed. For example, PostGIS can be used to build a reservoir inspection spatiotemporal database, and the inspection location data and inspection environment data can be constructed into spatial objects to form inspection trajectory information, thereby realizing real-time tracking of the inspection status and reproduction of historical records.

[0071] S103: Visually display the inspection track information.

[0072] This step does not limit the means of visual display. For example, the inspection track information can be rendered in the three-dimensional model of the water diversion project area using the three-dimensional geographic information system GIS technology, and the inspection environment data can be superimposed on the inspection track information for visual display, so that the inspection route and information in the three-dimensional digital scene can be continuously updated according to the current time point. The three-dimensional model of the water diversion project area can be a pre-generated three-dimensional digital scene model, such as using drones equipped with high-definition cameras and laser radars and other equipment, combined with the high-precision geographic coordinates provided by the strip Beidou CORS system, to take aerial photos and scans of the water diversion project area, and then the data collected by the drone can be used to generate a three-dimensional model of the water diversion project area through three-dimensional modeling software.

[0073] In some embodiments, after visually displaying the inspection trajectory information, the method further includes:

[0074] In response to the inspection terminal's inspection end signal for the water diversion project area, inspection information of the water diversion project area is saved, and the inspection information is used to perform inspection backtracking on the water diversion project area.

[0075] In this embodiment, when the inspection task is completed, the inspection personnel can submit an inspection end signal to the inspection server through the inspection terminal, so that the inspection server can save the inspection information of this inspection, such as the inspection path, problem area and other spatial data, as well as environmental monitoring information, photos, videos and other materials. On this basis, the inspection task path can be reproduced in the three-dimensional digital geographic scene, and task backtracking and digital reports can be provided, thereby realizing efficient inspection and real-time monitoring of the water diversion project area.

[0076] This embodiment provides an intelligent inspection method for water diversion projects based on the Beidou Ground-Based Augmentation System, which obtains inspection position data and inspection environment data obtained by the inspection terminal when inspecting the water diversion project area, wherein the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area; based on the inspection position data and the inspection environment data, the inspection trajectory information corresponding to the inspection terminal is constructed; and the inspection trajectory information is visualized. Utilizing this method, by obtaining the inspection position data and inspection environment data of the water diversion project area inspected by the inspection terminal, and the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, high-precision positioning can be guaranteed during the inspection process, thereby visually displaying the constructed inspection trajectory information, and at the same time, efficient and high-precision monitoring of the water diversion project area inspection can be achieved.

[0077] In some embodiments, before obtaining the inspection location data and inspection environment data obtained by the inspection terminal inspecting the water diversion project area, the method further includes:

[0078] Receive the original location data sent by the inspection terminal, and set up a virtual reference station in the Beidou Ground-Based Augmentation System based on the original location data;

[0079] Calculate virtual differential data of the virtual reference station according to the distance between the virtual reference station and each satellite reference station and the satellite differential data of each satellite reference station;

[0080] The virtual differential data is returned to the inspection terminal, so that the inspection terminal corrects the original position data based on the virtual differential data to obtain the inspection position data corresponding to the original position data.

[0081] In some embodiments, calculating virtual differential data of the virtual reference station according to the distance between the virtual reference station and each satellite reference station and the satellite differential data of each satellite reference station includes:

[0082] Based on the distance between the virtual reference station and each satellite reference station, a normalization coefficient is calculated;

[0083] According to the normalization coefficient and the distance between the virtual reference station and each satellite reference station, an interpolation coefficient between the virtual reference station and each satellite reference station is determined, and the interpolation coefficient is used to characterize the spatial position relationship between the virtual reference station and each satellite reference station;

[0084] Virtual differential data of the virtual reference station are calculated based on the interpolation coefficient between the virtual reference station and each satellite reference station, and the satellite differential data of each satellite reference station.

[0085] It should be noted that before the inspection server obtains the inspection location data and inspection environment data of the inspection terminal, the inspection terminal can determine the high-precision inspection location data by exchanging data with the inspection server. For example, in this embodiment, the inspection server may include a Beidou CORS server and an inspection platform server. The inspection terminal can collect and send its current rough location information (including latitude, longitude, elevation, etc.) to the Beidou CORS server. After the Beidou CORS server receives the location information, it can use the server-side software Beidou Ground-Based Augmentation System to set up a virtual reference station, and according to the satellite differential data provided by multiple Beidou CORS reference station nodes (i.e., satellite reference stations), the virtual differential data of the virtual reference station is calculated through the distance-dependent interpolation model (DIM). The virtual differential data includes correction parameters such as satellite orbit error, ionospheric delay, and tropospheric delay. The inspection platform server can be responsible for processing inspection-related services.

[0086] Subsequently, the calculated virtual differential data can be transmitted back to the inspection terminal in real time through a dedicated network. After receiving the virtual differential data, the inspection terminal can calibrate and correct the original satellite observation data, and use GNSS positioning algorithms such as least squares to solve the position, thereby obtaining high-precision inspection position data, ensuring the accuracy and reliability of the positioning results.

[0087] In a specific implementation, after startup, the inspection terminal can first perform a self-test program to ensure that all hardware components and software modules are working properly. The inspection terminal can automatically search for available satellite signals, initialize the satellite positioning system, and perform time synchronization; the inspection terminal can automatically or manually select the optimal communication network, such as 4G / 5G or a dedicated wireless network, to establish a stable connection with the Beidou CORS server.

[0088] The Beidou GNSS receiver of the inspection terminal can receive signals from satellites in real time and record key data such as the signal timestamp and pseudorange. Through multi-satellite data comparison and algorithm processing, the inspection terminal preliminarily calculates its own latitude, longitude and elevation information. During the collection process, the inspection terminal monitors the signal quality in real time to ensure the reliability of the collected data. Among them, when the inspection terminal initializes the network connection, it uses encryption protocols to ensure the security of data transmission. The network management module evaluates the connection quality and automatically switches to a network with a stronger signal to maintain the stability of data transmission.

[0089] The inspection terminal can then encapsulate the collected raw location data into a data packet and send it to the Beidou CORS server through the established network connection. Before sending, the data packet passes through an error detection and correction mechanism to ensure its integrity during transmission.

[0090] After receiving the original position data from the inspection terminal, the Beidou CORS server starts the virtual reference station (VRS) setting program, determines the optimal position of the virtual reference station based on the original position data of the inspection terminal, and simulates the observation data of the virtual reference station, including pseudorange, carrier phase, etc.

[0091] The BeiDou CORS server then accesses the base station network to collect real-time observation data to generate satellite differential data for each satellite base station. Then, the distance-related interpolation model can be used to determine the interpolation coefficient by the ratio of the inverse of the distance, taking the distance between the virtual reference station and the base station as a parameter, and calculating the virtual differential data such as satellite orbit error, ionospheric delay and tropospheric delay at the terminal position.

[0092] Specifically, the virtual reference station technology can use the proposed spatial interpolation method to calculate the virtual differential data at the virtual reference station. Assume that the water diversion project belt CORS has four Beidou CORS reference stations, and their satellite differential data are recorded as VA 、V B 、V C and V D , the virtual differential data at the virtual reference station is recorded as V v V can be solved by using the inverse distance weighted interpolation method based on the spatial correlation principle. v =α 1 V A +α 2 V B +α 3 V C +α 4 V D , where the interpolation coefficient α 1 , α 2 , α 3 and α 4 , which reflects the spatial relationship between the virtual reference station and each satellite reference station. The interpolation coefficient is determined based on the ratio of the inverse of the distance.

[0093] As can be done by first calculating the normalization coefficient The interpolation coefficients are Among them, d vA , d vB , d vC , d vD They are the distances between the virtual reference station and each Beidou CORS base station, and the calculation formula is as follows:

[0094]

[0095] ΔE and ΔN can be the plane coordinate differences of different coordinate axis components of the virtual reference station and the Beidou CORS base station in the northeast celestial coordinate system. In the traditional zonal CORS system, the differential data of the virtual reference station only considers the satellite differential data of the three satellite base stations closest to the virtual reference station, and does not fully utilize the observation data of the entire base station network. In the case of uneven distribution of base stations and large service areas, it leads to loss of positioning accuracy. This embodiment can adopt weighted calculation of differential data of base stations in the entire network, taking into account the contribution of all satellite base stations to the virtual reference station, and setting weights based on spatial distance relationships, thereby optimizing the differential data calculation of the virtual reference station and improving positioning accuracy.

[0096] The Beidou CORS server encapsulates the calculated virtual differential data and uses efficient data compression technology to reduce the amount of transmitted data. It sends the virtual differential data to the inspection terminal in real time through a dedicated network to ensure the timeliness of the data.

[0097] In some embodiments, the inspection environment data includes inspection problem data. After obtaining the inspection location data and inspection environment data obtained by the inspection terminal inspecting the water diversion project area, the method further includes:

[0098] Generate problem work orders based on inspection location data and inspection problem data;

[0099] The problem work order is sent to the maintenance terminal, so that the maintenance terminal instructs the maintenance personnel to perform maintenance processing on the water diversion project area based on the problem work order.

[0100] In some embodiments, after sending the problem work order to the maintenance terminal, the method further includes:

[0101] In response to a status update request from the maintenance terminal for the problem work order, updating the work order status of the problem work order to a resolved status;

[0102] In response to the inspection terminal's request for cancellation of the problem work order, the problem work order is cancelled.

[0103] During the specific inspection process, if problems such as equipment failure, equipment defect, water pollution, illegal occupation, etc. are encountered, the inspection personnel can record and submit the problem details to the inspection server through the inspection terminal. The server will then generate a problem work order, recording the problem location, type and description in detail. For example, a specific problem work order is generated based on the inspection location data and inspection problem data sent by the inspection terminal, and assigned to the corresponding maintenance personnel to arrive at the site for maintenance processing.

[0104] Figure 4 This is a schematic diagram of a work order related to an inspection service provided by an embodiment of the present application, such as Figure 4 As shown in (a), it is a problem ticket generated by the inspection server, including details such as problem type, problem description, discovery time and creator. After the problem ticket is sent to the maintenance terminal, the maintenance terminal can instruct the maintenance personnel to perform maintenance on the water diversion project area based on the problem ticket.

[0105] After receiving the problem work order, the maintenance personnel will conduct on-site inspection or processing. After the processing is completed, the work order status can be updated on the inspection server and marked as "problem solved". The inspection personnel will conduct on-site verification and submit a cancellation request for the work order through the inspection terminal. Figure 4 As shown in (b), it is a verification work order submitted by the inspection terminal for the problem work order, including data information such as problem description, discovery time, processing method and rectification result, so that the inspection server can verify and process the problem work order to ensure that the problem is effectively handled.

[0106] Figure 5It is a flow chart of another intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system provided in an embodiment of the present application. As an example but not a limitation, the method can be applied to the inspection terminal.

[0107] S201. During the inspection process of the water diversion project area by the inspection terminal, the inspection location data and the inspection environment data are sent to the inspection server, so that the inspection server can perform a visual display based on the inspection location data and the inspection environment data, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area.

[0108] In some embodiments, before sending the inspection location data and the inspection environment data to the inspection server, the method further includes:

[0109] Sending the original position data to the inspection server, so that the inspection server sets a virtual reference station in the Beidou ground-based augmentation system based on the original position data, calculates virtual differential data of the virtual reference station according to the distance between the virtual reference station and each satellite reference station, and the satellite differential data of each satellite reference station, and returns the virtual differential data to the inspection terminal;

[0110] The original position data is corrected based on the virtual differential data to obtain the inspection position data corresponding to the original position data.

[0111] In a specific implementation, the process of precise position solution by the inspection terminal may include: after the inspection terminal receives the virtual differential data, it starts the differential solution program, integrates it with its own satellite observation data, optimizes the observation value through the least squares algorithm, and calculates the corrected high-precision position information, including longitude, latitude and elevation, and related accuracy indicators.

[0112] For example, the CORS reference station closest to the virtual reference station can be set as the main reference station, and the geometric configuration and baseline error correction can be performed on the observation value of the main reference station. The geometric configuration can be corrected by the difference between the satellite and the ground. The spatial distance related error is obtained by the spatial interpolation model. The VRS carrier phase and pseudorange observation equations are set as follows:

[0113]

[0114] Where, the superscript S is the satellite identifier, the subscript v is the virtual reference station or station identifier, λ is the carrier phase wavelength, Carrier phase observation value, P pseudorange observation value, ρ is the geometric distance between satellite stations, I is the ionospheric delay, T is the tropospheric error, O is the satellite orbit error, M is the multipath effect, ζ pseudorange observation noise, ε receiver noise, c is the speed of light, and t is the clock error. The primary difference between the main reference station A and the virtual reference station is:

[0115]

[0116] Subsequently, a second difference can be performed, since the non-difference value and the difference value have the following relationship:

[0117] r is the reference satellite identifier, then the double difference formula can be rewritten as:

[0118]

[0119] in, is a constant and can be eliminated in the differential calculation. The ambiguity, multipath, clock error and observation noise of the virtual reference station are consistent with those of the main reference station, so the above formula can be further written as:

[0121]

[0122] Based on the above formula, a linear equation system can be established using pseudo-range double-difference observations of no less than 4 satellites, and the linear equation system can be solved by the least squares model to obtain the precise coordinates of the inspection terminal (ie, inspection position data).

[0123] The intelligent inspection method for water diversion projects based on the Beidou Ground-Based Augmentation System provided in this embodiment can ensure high-precision positioning during the inspection process by determining the inspection position data based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, thereby enabling the inspection server to implement efficient and high-precision monitoring of the water diversion project area inspection.

[0124] In some embodiments, after sending the inspection location data and the inspection environment data to the inspection server, the method further includes:

[0125] A signal for ending inspection of the water diversion project area is sent so that the inspection server can save inspection information of the water diversion project area, and the inspection information is used for inspection backtracking of the water diversion project area.

[0126] The embodiment of the present application also provides a Beidou CORS-based engineering facility inspection and maintenance PC / APP smart system, which realizes the full process digitization and intelligence of engineering facility archive management, smart inspection, maintenance management, statistical analysis and comprehensive utilization management by integrating mobile Internet, three-dimensional GIS and "strip" Beidou CORS navigation and positioning technologies.

[0127] The system design can include the water diversion project facility management system architecture of the mobile App and PC client, using the high-precision positioning data of the zonal Beidou CORS system as the basis for the system positioning service to determine the system's functional modules, including project facility archive management, smart inspection, maintenance management, statistical analysis and comprehensive utilization management. The mobile App can synchronize and communicate data with the PC client through the mobile Internet, and use the centimeter-level positioning service provided by the Beidou Ground-Based Augmentation System to achieve real-time and precise positioning of project facilities and inspection personnel; the mobile App can provide functions such as project facility inspection, maintenance management, and support on-site data collection and real-time upload.

[0128] Secondly, 3D GIS technology can be integrated into the system to realize the 3D display and spatial analysis of water diversion project facilities, and to use the high-precision positioning data of the zonal Beidou CORS system to accurately locate and plan the path of water diversion project facilities.

[0129] Electronic archives of engineering facilities can be established in the system to record basic information, technical parameters and historical maintenance records of the facilities. The timestamp function of the Beidou Ground Augmentation System can be used to record the update time of facility archives, thus realizing the digital storage, retrieval and update of engineering facility archives.

[0130] Inspection management can also be performed in the system: by combining 3D maps and Beidou CORS system, the best inspection route can be planned for inspection personnel to improve inspection efficiency. Inspection tasks can also be monitored in real time and their locations can be tracked to ensure the smooth completion of the tasks.

[0131] Maintenance management can also be performed in the system: formulate maintenance plans and strategies based on inspection results, record the process and results of maintenance activities, evaluate maintenance effects, and optimize maintenance processes.

[0132] The system can also be used for comprehensive management: evaluate the comprehensive utilization efficiency and benefits of engineering facilities, and explore the multifunctional utilization of engineering facilities, such as water resource reuse and energy recovery.

[0133] Furthermore, the architecture of the engineering facility inspection and maintenance PC / APP system based on Beidou CORS can be designed in accordance with the three-layer B / S architecture style.

[0134] Figure 6 is an architecture diagram of a smart inspection system provided by an embodiment of the present application, such as Figure 6As shown in the figure, there is a three-tier B / S structure, in which the three-tier B / S structure is respectively the presentation layer UI of the client browser, the business logic layer BLL of the Web server and the data access layer DAL of the database. Among them, the UI is the interface for users to interact with the system, responsible for receiving the user's input data and displaying the processed results; the BLL is the bridge between the presentation layer and the data access layer, mainly implementing core logic such as business rules, data validation and calculation; the DAL directly interacts with the database, performs data addition, deletion, modification and operation, and provides the data in the database to the business logic layer for processing, and saves the data processed by the business layer back to the database.

[0135] In the architecture, the entity business Entity implements the "encapsulation" principle in object-oriented programming, encapsulating data and operations together to form an object with specific properties and behaviors. Entity is used as a carrier for data transmission in the three-tier architecture, connecting UI, BLL and DAL; data transmission between each layer is one-way, and is implemented through variables or entities as parameters. For example, after the UI layer receives user input, it encapsulates the data into an Entity object and passes it to the BLL layer; after the BLL layer processes the data, it encapsulates the results into an Entity object and passes it to the DAL layer; the DAL layer performs database operations based on the Entity object, and encapsulates the operation results into an Entity object and returns them to the BLL layer, and finally the UI layer displays them to the user. The three-tier architecture not only improves the maintainability and scalability of the code, but also helps to achieve decoupling between layers, so that each layer can be independently developed and tested, improving development efficiency. At the same time, as the core of data transmission, Entity ensures the consistency and integrity of the data, providing a guarantee for the stability and reliability of the entire application.

[0136] The data control center is the core of this functional module, which collects data from various parts of the system and realizes data processing, publishing, and management. Figure 5 The data flow of the intelligent inspection function of the water diversion project is demonstrated.

[0137] Figure 7 is a schematic diagram of a data flow in a smart system provided by an embodiment of the present application, such as Figure 7As shown in the figure, Beidou GNSS observation data is stored in the Beidou GNSS database, mainly including frequency identification contents such as B1, B2, L1, L2, C\A, P1, P2, etc. The different suppliers of observation equipment for each base station make the data format of satellite receivers different. These data are transmitted to the system control and data processing center through a dedicated network, and the central software converts them into the data format required for solution, and converts them into the standard RINEX format for storage and service. For example, the system control and data processing center can provide data to the user service center in standard RTCM, CMR, RINEX and other formats for position correction or post-precision data solution.

[0138] The basic GIS information data stored in the GIS database provides navigation location service maps, mainly including road network data, POI data, image data and value-added service data.

[0139] The user information data stored in the user database may include user name, password, service type, unit, application date, validity period, industry, number of types of instruments and equipment used, scope of operation and other attribute information; users can send usage requests by actively linking to the user application subsystem. The system opens services according to the user application level and tracks the user's trajectory and records user trajectory data; the system management data stored in the user database is generated by the user application subsystem, and mainly includes site information of each observation station, equipment information, operating status, fault conditions, fault resolution measures, daily maintenance records and other data.

[0140] Furthermore, this embodiment can also perform intelligent engineering inspection applications based on the high-precision inspection method of water diversion projects based on the "strip" Beidou CORS system, thereby improving the intelligence, intelligence, and efficiency of the inspection while realizing inspection visualization.

[0141] Figure 8 FIG. 1 is a flow chart of determining inspection location data provided by an embodiment of the present application. Figure 8 As shown in the figure, the Beidou high-precision positioning method based on the virtual reference station technology can realize data exchange between the inspection terminal and the Beidou CORS server through a dedicated network. For example, after the inspection APP terminal starts working, it can report its own single-point position so that the server can generate a virtual reference station based on the position, generate real-time positioning correction data, such as calculating virtual differential data based on the differential data of each Beidou reference station, and return the real-time positioning correction data to the inspection APP terminal; the APP can combine the differential information for position solution to obtain high-precision inspection position data. This technology has the advantages of high precision, high reliability, and real-time online positioning, and is suitable for inspection operation terminals that require fast and real-time accurate position information.

[0142] Fig. 9is an overall schematic diagram of an intelligent inspection method for water diversion projects based on a Beidou ground-based augmentation system provided in an embodiment of the present application, such as Fig. 9 As shown, smart inspection aims to ensure timely discovery and handling of potential risks, prevent failures of water diversion project facilities, and ensure safe and stable operation of the water diversion project area through standardized processes such as daily inspection plans, engineering facility inspection tasks, inspection route planning, inspection process records, problem discovery and on-site disposal, special inspection task arrangements, disposal record sheet generation and review, and inspection record archiving.

[0143] Fig.10 This is an overall business diagram of an inspection server provided by an embodiment of the present application, such as Fig.10 As shown, the middle part can be a partial three-dimensional model of the water diversion project area, which displays the inspection trajectory information of the inspection terminal held by the inspection personnel, including the inspection location data obtained by the inspection terminal when inspecting the water diversion project area, such as the inspection location data of path point 12 (longitude: 111; latitude: 222; elevation: 333). In addition to browsing the three-dimensional scene, the inspection server can also plan the inspection path, trace the inspection tasks, generate digital inspection reports, view the inspection task information, monitor the inspection information in real time with high precision, and build a spatial database and a GNSS database.

[0144] From the above description, it can be found that an intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system provided in an embodiment of the present application constructs a strip Beidou CORS system, such as designing a strip Beidou CORS system base station network according to the spatial distribution characteristics of the water diversion path, and realizing the deployment and installation of the Beidou CORS base station, which solves the problems of insufficient GPS signals and poor positioning accuracy of the existing inspection mobile terminals, and realizes comprehensive, real-time, efficient and high-precision supervision of facility inspections along the water diversion project, and provides high-precision positioning services for the inspection dispatch and reception, task processing, and problem reporting of subsequent tasks, greatly improving the inspection efficiency and quality within the management scope of the water diversion project.

[0145] Furthermore, the embodiment of the present application can realize data interaction and differential data broadcasting between the inspection operation terminal and the Beidou CORS server based on the virtual reference station technology, ensuring high-precision positioning during the inspection process. The embodiment of the present application can also build a Beidou CORS-based engineering facility inspection and maintenance PC / APP system, integrating mobile Internet, three-dimensional GIS and other technologies to realize the digitization and intelligence of engineering facility inspection and maintenance.

[0146] Finally, the demonstration application in typical water diversion projects verified the effectiveness of the inspection method, which not only improved the inspection efficiency and quality of water diversion projects, but also promoted the development of water conservancy project management in a modern and intelligent direction, and provided strong technical support for the rational use and protection of water resources.

[0147] Corresponding to the intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system in the above embodiment, Fig.11 It is a structural block diagram of an intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in one embodiment of the present application. The device can be configured in an inspection server. For the sake of ease of explanation, only the parts related to the embodiment of the present application are shown.

[0148] Reference Fig.11 , the device comprises:

[0149] The acquisition module 301 is used to obtain the inspection location data and inspection environment data obtained by the inspection terminal during the inspection of the water diversion project area, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, and the satellite reference stations are arranged in a strip shape on both sides of the water diversion project area;

[0150] A construction module 302 is used to construct inspection trajectory information corresponding to the inspection terminal according to the inspection location data and the inspection environment data;

[0151] The display module 303 is used to visualize the inspection track information.

[0152] This embodiment provides an intelligent inspection device for water diversion projects based on the Beidou Ground-Based Augmentation System. The acquisition module acquires the inspection position data and inspection environment data obtained by the inspection terminal when inspecting the water diversion project area, wherein the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area; the construction module constructs the inspection trajectory information corresponding to the inspection terminal according to the inspection position data and the inspection environment data; and the display module visualizes the inspection trajectory information. By using this device, by acquiring the inspection position data and inspection environment data of the water diversion project area inspected by the inspection terminal, and the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground-Based Augmentation System, high-precision positioning can be guaranteed during the inspection process, so that the constructed inspection trajectory information can be visualized and efficient and high-precision monitoring of the water diversion project area can be achieved.

[0153] Optionally, the intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment further includes:

[0154] A receiving module is used to receive the original position data sent by the inspection terminal before obtaining the inspection position data and inspection environment data obtained by the inspection terminal during the inspection of the water diversion project area, and to set a virtual reference station in the Beidou ground-based augmentation system based on the original position data;

[0155] A calculation module, used for calculating virtual differential data of the virtual reference station according to the distance between the virtual reference station and each satellite reference station and the satellite differential data of each satellite reference station;

[0156] The return module is used to return the virtual differential data to the inspection terminal, so that the inspection terminal corrects the original position data based on the virtual differential data to obtain the inspection position data corresponding to the original position data.

[0157] Optionally, the computing module is specifically used for:

[0158] Based on the distance between the virtual reference station and each satellite reference station, a normalization coefficient is calculated;

[0159] According to the normalization coefficient and the distance between the virtual reference station and each satellite reference station, an interpolation coefficient between the virtual reference station and each satellite reference station is determined, and the interpolation coefficient is used to characterize the spatial position relationship between the virtual reference station and each satellite reference station;

[0160] Virtual differential data of the virtual reference station are calculated based on the interpolation coefficient between the virtual reference station and each satellite reference station, and the satellite differential data of each satellite reference station.

[0161] Optionally, the display module is specifically used to:

[0162] The three-dimensional geographic information system (GIS) technology is used to render the inspection trajectory information in the three-dimensional model of the water diversion project area, and the inspection environment data is superimposed on the inspection trajectory information for visual display.

[0163] Optionally, the inspection environment data includes inspection problem data. The intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment also includes:

[0164] A generation module is used to generate a problem work order based on the inspection location data and the inspection problem data after obtaining the inspection location data and the inspection environment data obtained by the inspection terminal during the inspection of the water diversion project area;

[0165] The work order sending module is used to send the problem work order to the maintenance terminal, so that the maintenance terminal instructs the maintenance personnel to perform maintenance processing on the water diversion project area based on the problem work order.

[0166] Optionally, the intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment further includes:

[0167] An updating module, configured to update the work order status of the problem work order to a resolved state in response to a status update request of the maintenance terminal for the problem work order after the problem work order is sent to the maintenance terminal;

[0168] The write-off processing module is used to write off the problem work order in response to a write-off request for the problem work order from the inspection terminal after the problem work order is sent to the maintenance terminal.

[0169] Optionally, the intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment further includes:

[0170] The saving module is used to save the inspection information of the water diversion project area in response to the inspection terminal's end inspection signal for the water diversion project area after visually displaying the inspection trajectory information. The inspection information is used to trace back the inspection of the water diversion project area.

[0171] Corresponding to the intelligent inspection method for water diversion projects based on the Beidou ground-based augmentation system in the above embodiment, Fig.12 It is a structural block diagram of an intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in one embodiment of the present application. The device can be configured in an inspection terminal. For the sake of ease of explanation, only the parts related to the embodiment of the present application are shown.

[0172] Reference Fig.12 , the device comprises:

[0173] The first data sending module 401 is used to send inspection position data and inspection environment data to the inspection server during the inspection of the water diversion project area by the inspection terminal, so that the inspection server can perform visual display based on the inspection position data and the inspection environment data, wherein the inspection position data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area.

[0174] The present embodiment provides an intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system. During the inspection of the water diversion project area by the inspection terminal, the inspection location data and the inspection environment data are sent to the inspection server through the first data sending module, so that the inspection server can perform visual display based on the inspection location data and the inspection environment data, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area. By using this device, by determining the inspection location data based on the satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, high-precision positioning can be guaranteed during the inspection process, thereby enabling the inspection server to efficiently and accurately monitor the inspection of the water diversion project area.

[0175] Optionally, the intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment further includes:

[0176] The second data sending module is used to send the original position data to the inspection server before sending the inspection position data and the inspection environment data to the inspection server, so that the inspection server sets a virtual reference station in the Beidou ground-based augmentation system based on the original position data, calculates the virtual differential data of the virtual reference station according to the distance between the virtual reference station and each satellite reference station, and the satellite differential data of each satellite reference station, and returns the virtual differential data to the inspection terminal;

[0177] The correction module is used to correct the original position data based on the virtual differential data to obtain the inspection position data corresponding to the original position data.

[0178] Optionally, the intelligent inspection device for water diversion projects based on the Beidou ground-based augmentation system provided in this embodiment further includes:

[0179] The signal sending module is used to send an end inspection signal for the water diversion project area after sending the inspection location data and inspection environment data to the inspection server, so that the inspection server can save the inspection information of the water diversion project area. The inspection information is used to conduct inspection backtracking on the water diversion project area.

[0180] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0181] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0182] The present application also provides a patrol inspection server. Fig.13 is a schematic diagram of the structure of an inspection server provided in an embodiment of the present application, such as Fig.13As shown, the inspection server includes: at least one processor 501, a memory 502, an input device 503, an output device 504, and a computer program stored in the memory 502 and executable on at least one processor 501. When the processor 501 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0183] The input device 503 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the terminal device. The output device 504 may include a display device such as a display screen.

[0184] The present application also provides an inspection terminal. Fig.14 is a schematic diagram of the structure of an inspection terminal provided by an embodiment of the present application, such as Fig.14 As shown, the inspection terminal includes: at least one processor 601, a memory 602, an input device 603, an output device 604, and a computer program stored in the memory 602 and executable on at least one processor 601. When the processor 601 executes the computer program, the steps in any of the above method embodiments are implemented.

[0185] The input device 603 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the terminal device. The output device 604 may include a display device such as a display screen.

[0186] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by the processor 501 or 601, the steps in the above-mentioned method embodiments can be implemented.

[0187] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0188] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can be executed by the processor 501 or 601. The steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include at least: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0189] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0192] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system, characterized in that: Applied to the inspection server, the method includes: Obtaining inspection location data and inspection environment data obtained by the inspection terminal during inspection of the water diversion project area, wherein the inspection location data is determined based on satellite differential data of each satellite reference station in the Beidou ground-based augmentation system, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area; Constructing inspection trajectory information corresponding to the inspection terminal according to the inspection location data and the inspection environment data; The inspection trajectory information is displayed visually.

2. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 1, characterized in that: Before obtaining the inspection location data and inspection environment data obtained by the inspection terminal inspecting the water diversion project area, the method further includes: Receiving the original position data sent by the inspection terminal, and setting a virtual reference station in the Beidou Ground-Based Augmentation System based on the original position data; Calculating virtual differential data of the virtual reference station according to the distance between the virtual reference station and each of the satellite reference stations, and satellite differential data of each of the satellite reference stations; The virtual differential data is returned to the inspection terminal, so that the inspection terminal corrects the original position data based on the virtual differential data to obtain the inspection position data corresponding to the original position data.

3. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 2 is characterized in that: The calculating the virtual differential data of the virtual reference station according to the distance between the virtual reference station and each of the satellite reference stations and the satellite differential data of each of the satellite reference stations comprises: Calculating a normalization coefficient based on the distance between the virtual reference station and each of the satellite reference stations; Determining an interpolation coefficient between the virtual reference station and each of the satellite reference stations according to the normalization coefficient and the distance between the virtual reference station and each of the satellite reference stations, wherein the interpolation coefficient is used to characterize a spatial position relationship between the virtual reference station and each of the satellite reference stations; The virtual differential data of the virtual reference station is calculated based on the interpolation coefficient between the virtual reference station and each of the satellite reference stations, and the satellite differential data of each of the satellite reference stations.

4. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 1, characterized in that: The visual display of the inspection trajectory information includes: The inspection track information is rendered in the three-dimensional model of the water diversion project area using three-dimensional geographic information system (GIS) technology, and the inspection environment data is superimposed on the inspection track information for visual display.

5. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 1, characterized in that: The inspection environment data includes inspection problem data. After obtaining the inspection location data and inspection environment data obtained by the inspection terminal inspecting the water diversion project area, the method further includes: Generate a problem work order based on the inspection location data and the inspection problem data; The problem work order is sent to a maintenance terminal, so that the maintenance terminal instructs maintenance personnel to perform maintenance processing on the water diversion project area based on the problem work order.

6. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 5 is characterized in that: After sending the problem work order to the maintenance terminal, the method further includes: In response to a status update request from the maintenance terminal for the problem work order, updating the work order status of the problem work order to a resolved status; In response to the inspection terminal's request for cancellation of the problem work order, the problem work order is cancelled.

7. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 1, characterized in that: After visually displaying the inspection trajectory information, the method further includes: In response to the inspection end signal of the inspection terminal for the water diversion project area, the inspection information of the water diversion project area is saved, and the inspection information is used to perform inspection backtracking on the water diversion project area.

8. An intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system, characterized in that: Applied to the inspection terminal, the method includes: During the inspection process of the water diversion project area by the inspection terminal, the inspection location data and the inspection environment data are sent to the inspection server, so that the inspection server can perform a visual display based on the inspection location data and the inspection environment data, wherein the inspection location data is determined based on the satellite differential data of each satellite reference station in the Beidou Ground Based Augmentation System, and the satellite reference stations are arranged in a strip-like form on both sides of the water diversion project area.

9. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 8, characterized in that: Before sending the inspection location data and the inspection environment data to the inspection server, the method further includes: Sending the original position data to the inspection server, so that the inspection server sets a virtual reference station in the Beidou ground-based augmentation system based on the original position data, calculates virtual differential data of the virtual reference station according to the distance between the virtual reference station and each of the satellite reference stations, and the satellite differential data of each of the satellite reference stations, and returns the virtual differential data to the inspection terminal; The original position data is corrected based on the virtual differential data to obtain inspection position data corresponding to the original position data.

10. The intelligent inspection method for water diversion projects based on Beidou ground-based augmentation system according to claim 8, characterized in that: After sending the inspection location data and the inspection environment data to the inspection server, the method further includes: A signal for ending inspection of the water diversion project area is sent so that the inspection server saves inspection information of the water diversion project area, and the inspection information is used for back-tracing inspection of the water diversion project area.

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